/// <summary>
/// Saves a List of program Files to a folder (creates the folder if needed).
/// </summary>
/// <param name="program"></param>
/// <param name="folderPath"></param>
/// <param name="encoding"></param>
/// <param name="logger"></param>
/// <returns></returns>
internal static bool SaveProgramToFolder(RobotProgram program, string folderPath, RobotLogger logger)
{
// Create a subfolder within folderPath
string programFolderPath = "";
try
{
programFolderPath = Path.Combine(folderPath, Utilities.Strings.SafeProgramName(program.Name + "_Program"));
}
catch (Exception ex)
{
logger.Error("Badly formatted folder path: " + folderPath);
logger.Debug(ex);
return(false);
}
// Check if directory exists, and create it otherwise
try
{
if (Directory.Exists(programFolderPath))
{
logger.Debug("Found existing folder on " + programFolderPath + ", deleting it...");
EmptyDirectory(programFolderPath, logger);
}
else
{
DirectoryInfo di = Directory.CreateDirectory(programFolderPath);
logger.Debug("Created folder " + programFolderPath);
}
}
catch (Exception ex)
{
logger.Error("Could not create folder " + programFolderPath);
logger.Debug(ex);
return(false);
}
// More sanity
if (!IsDirectoryWritable(programFolderPath))
{
logger.Error("Cannot write to folder " + programFolderPath);
return(false);
}
// Write each file
bool success = true;
foreach (var file in program.Files)
{
string fullPath = Path.Combine(programFolderPath, file.Name + "." + file.Extension);
success = success && SaveStringListToFile(file.Lines, fullPath, file.Encoding, logger);
}
return(success);
}
public override Joints GetCurrentJoints()
{
if (_rsBridge != null && _rsBridge.Connected)
{
var jnt = _rsBridge.GetCurrentJoints();
logger.Debug($"CurrentJoints: {jnt}");
return(jnt);
}
return(this._tcpManager.initAx);
}
/// <summary>
/// Saves a List of strings to a file.
/// </summary>
/// <param name="lines"></param>
/// <param name="filepath"></param>
/// <param name="encoding"></param>
/// <param name="logger"></param>
/// <returns></returns>
internal static bool SaveStringListToFile(List <string> lines, string filepath, Encoding encoding, RobotLogger logger)
{
try
{
System.IO.File.WriteAllLines(filepath, lines, encoding);
logger.Debug($"Saved content to file \"{filepath}\"");
return(true);
}
catch (Exception ex)
{
logger.Error("Could not save content to file \"{filepath}\"");
logger.Debug(ex);
}
return(false);
}
/// <summary>
/// Removes all files and directories in a folder, keeping the folder.
/// From: https://www.techiedelight.com/delete-all-files-sub-directories-csharp/
/// </summary>
/// <param name="folderPath"></param>
/// <returns></returns>
internal static bool EmptyDirectory(string folderPath, RobotLogger logger)
{
DirectoryInfo di = new DirectoryInfo(folderPath);
try
{
foreach (FileInfo file in di.GetFiles())
{
file.Delete();
}
foreach (DirectoryInfo dir in di.GetDirectories())
{
dir.Delete(true);
}
}
catch (Exception ex)
{
logger.Error($"Could not delete files in \"{folderPath}\"");
logger.Debug(ex);
return(false);
}
return(true);
}
internal bool Connect()
{
try
{
_clientSocket = new TcpClient();
_clientSocket.Connect(this._ip, this._port);
_clientStatus = TCPConnectionStatus.Connected;
_clientNetworkStream = _clientSocket.GetStream();
_clientSocket.ReceiveBufferSize = 1024;
_clientSocket.SendBufferSize = 1024;
_sendingThread = new Thread(SendingMethod);
_sendingThread.IsBackground = true;
_sendingThread.Start();
_receivingThread = new Thread(ReceivingMethod);
_receivingThread.IsBackground = true;
_receivingThread.Start();
if (!WaitForInitialization())
{
logger.Error("Timeout when waiting for initialization data from the controller");
Disconnect();
return(false);
}
// During YuMi development I was having a really weird problem: if a monitor is running, I cannot connect to another driver in the same unit...
// So, for the time being, let's make monitoring an explicit process with its own API?
if (TryConnectMonitor())
{
// Establish a MotionCursor on `Control`
this._parentDriver.parentControl.InitializeMotionCursor();
this._motionCursor = this._parentDriver.parentControl.MotionCursor;
}
return(_clientSocket.Connected);
}
catch (Exception ex)
{
logger.Debug(ex);
//throw new Exception("ERROR: could not establish TCP connection");
Disconnect();
}
return(false);
}
public override void DebugDump()
{
logger.Debug("Nothing to debug for a Driver in Offline mode");
}
/// <summary>
/// Searches the network for a robot controller and establishes a connection with the specified one by position.
/// Performs no LogOn actions or similar.
/// </summary>
/// <returns></returns>
private bool LoadController(int controllerID)
{
// Scan the network and hookup to the specified controller
bool success = false;
// This is specific to ABB, should become abstracted at some point...
logger.Verbose("Scanning the network for controllers...");
NetworkScanner scanner = new NetworkScanner();
ControllerInfo[] controllers = scanner.GetControllers();
if (controllers.Length > 0)
{
int cId = controllerID > controllers.Length ? controllers.Length - 1 :
controllerID < 0 ? 0 : controllerID;
controller = ControllerFactory.CreateFrom(controllers[cId]);
if (controller != null)
{
//isConnected = true;
logger.Verbose($"Found controller {controller.SystemName} on {controller.Name}");
success = true;
logger.Debug(controller);
//Console.WriteLine(controller.RobotWare);
//Console.WriteLine(controller.RobotWareVersion);
//try
//{
// this.robotWare = this.controller.RobotWare;
// this.robotWareOptions = this.robotWare.Options;
// this._hasMultiTasking = HasMultiTaskOption(this.robotWareOptions);
// this._hasEGM = HasEGMOption(this.robotWareOptions);
//}
//catch
//{
// Console.WriteLine("Could not access ROBOTWARE options");
//}
}
else
{
logger.Debug("Could not connect to controller...");
}
}
else
{
logger.Debug("No controllers found on the network");
}
//if (!success)
//{
// Disconnect();
// //throw new Exception("ERROR: could not LoadController()");
//}
return(success);
}
internal bool Connect()
{
try
{
_clientSocket = new TcpClient();
_clientSocket.Connect(this._robotIP, this._robotPort);
ClientSocketStatus = TCPConnectionStatus.Connected;
_clientNetworkStream = _clientSocket.GetStream();
_clientSocket.ReceiveBufferSize = 2048;
_clientSocket.SendBufferSize = 1024;
//// We don't need a sending thread to the client anymore, since the driver script will only be uplaoded once.
//_clientSendingThread = new Thread(ClientSendingMethod);
//_clientSendingThread.IsBackground = true;
//_clientSendingThread.Start();
_clientReceivingThread = new Thread(ClientReceivingMethod);
_clientReceivingThread.IsBackground = true;
_clientReceivingThread.Start();
if (!Net.Net.GetLocalIPAddressInNetwork(_robotIP, "255.255.255.0", out _serverIP))
{
throw new Exception("ERROR: Could not figure out local IP");
}
logger.Debug("Machina local IP: " + _serverIP);
_serverSocket = new TcpListener(IPAddress.Parse(_serverIP), _serverPort);
_serverSocket.Start();
_isServerListeningRunning = true;
_serverListeningThread = new Thread(ServerReceivingMethod);
_serverListeningThread.IsBackground = true;
_serverListeningThread.Start();
string drScript = LoadDriverScript();
if (!UploadScriptToDevice(drScript, false))
{
logger.Error("Could not upload driver to robot");
Disconnect();
return(false);
}
if (!WaitForInitialization())
{
logger.Error("Timeout when waiting for initialization data from the controller");
Disconnect();
return(false);
}
return(_clientSocket.Connected);
}
catch (Exception ex)
{
logger.Error("Something went wrong trying to connect to robot...");
logger.Debug(ex);
Disconnect();
return(false);
}
//return false;
}
